CN110154067A - A kind of high-speed overload Stacking Robots self-locking end effector - Google Patents
A kind of high-speed overload Stacking Robots self-locking end effector Download PDFInfo
- Publication number
- CN110154067A CN110154067A CN201910283696.6A CN201910283696A CN110154067A CN 110154067 A CN110154067 A CN 110154067A CN 201910283696 A CN201910283696 A CN 201910283696A CN 110154067 A CN110154067 A CN 110154067A
- Authority
- CN
- China
- Prior art keywords
- fixed frame
- trapezoidal screw
- transverse slat
- end effector
- roller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a kind of high-speed overload Stacking Robots self-locking end effectors, including quick positioning mechanism, heavily loaded clamp mechanism and support plate；Heavily loaded clamp mechanism includes the transverse slat for being slidably arranged in support board ends, the bottom symmetrical at one of transverse slat both ends is provided with the first fixed frame, the bottom symmetrical at another transverse slat both ends is provided with the second fixed frame, the lower rotation connection clamping roller of first fixed frame, the lower rotation of second fixed frame is connected with locking roller, pressure sensor is provided on locking roller, clamping roller, locking roller are connected with limit spring between the first fixed frame, the second fixed frame respectively；Quick positioning mechanism includes the dual-axle motor being fixed in the middle part of support plate, and two output shafts of dual-axle motor are connected separately with the first trapezoidal screw and the second trapezoidal screw, and the first trapezoidal screw and the second trapezoidal screw pass through sleeve arrangement and connect with transverse slat.
Description
Technical field
The present invention relates to carpenter's Furniture manufacturing line technology fields, and in particular to a kind of high-speed overload Stacking Robots self-locking
End effector.
Background technique
During modern carpenter's production line continuous productive process, it is often necessary to plate is carried out to turn the carryings such as line, stacking operation, it is existing
There is automation solutions spininess to specific standard, can not also be applicable in the operating conditions such as heavy duty, quick, cannot achieve efficient, inexpensive
Ground stacking.
Summary of the invention
For above-mentioned technical deficiency, the object of the present invention is to provide a kind of high-speed overload Stacking Robots self-lockings
End effector, the operating conditions such as compact-sized, cost is relatively low, applicable high-speed overload, can be realized the automatic locking in two stages.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
The present invention provides a kind of high-speed overload Stacking Robots self-locking end effector, including quick positioning mechanism, again
Carry clamp mechanism and support plate；It is described heavy duty clamp mechanism include two be symmetricly set on the support board ends and and its
The bottom symmetrical of the transverse slat being slidably connected, one of them transverse slat both ends is provided with the first fixed frame, another described transverse slat
The bottom symmetrical at both ends is provided with the second fixed frame, and the lower rotation of first fixed frame is connected with clamping roller, and described
The basal sliding of two fixed frames is connected with voussoir top plate and is fixed with bidirectional hydraulic bar by connecting plate, and the bidirectional hydraulic bar is set
It sets below the support plate and two extension ends is respectively and fixedly provided with the voussoir with voussoir top plate cooperation, the voussoir top plate
Both ends by bearing rotation connection there are two roller is locked, be provided with pressure sensor, the clamping on the locking roller
Limit bullet is fixedly connected between roller and first fixed frame, between the locking roller and second fixed frame
Spring；The quick positioning mechanism includes the dual-axle motor being fixed in the middle part of the support plate, two outputs of the dual-axle motor
Axis passes through shaft coupling respectively and is connected with the first trapezoidal screw and the second trapezoidal screw, first trapezoidal screw and second ladder
Shape screw rod passes through sleeve arrangement and connect with the transverse slat.
Preferably, the sleeve arrangement include two respectively with first trapezoidal screw and the second trapezoidal screw spiral shell
The screw sleeve of line cooperation, is fixedly connected with support frame on the screw sleeve, support frame as described above is fixed on the transverse slat.
Preferably, the both ends of the support plate are symmetrically arranged with guide rail, and the transverse slat bottom is fixed with sliding with the guide rail
The sliding block of dynamic connection.
Preferably, the voussoir top plate is slidably connected by ladder chute and the fixed frame.
Preferably, the hand of spiral of first trapezoidal screw and second trapezoidal screw is on the contrary, and its spiral liter
Angle is less than equivalent friction angle.
Preferably, the inclination angle of the voussoir and the voussoir top plate is less than equivalent friction angle between the two.
Preferably, the locking roller and the clamping roller coplanar horizontal.
Preferably, the pressure sensor is mounted at the rotating shaft that the locking roller is connect with the bearing.
The beneficial effects of the present invention are: pressure sensor in the present apparatus for realizing to clamping whether sentencing in place
It is fixed, and it can be directed to the requirement of different materials, chucking power size is adjusted, prevents from pressing from both sides bad plate, or can not press from both sides plate, voussoir
With the cooperation of voussoir top plate, the support force direction of bidirectional hydraulic bar is changed, it is ensured that the present apparatus can be mentioned when grabbing heavy plate
The pressure maintaining oil circuit of two-way hydraulic cylinder is cooperated to lock when grip force reaches given threshold for sufficient chucking power, voussoir and voussoir top
Plate generates self-locking again；Limit spring limits locking roller, clamping roller slewing area, prevents the two from turning to outside, loses folder
Hold angle.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that a kind of structure of high-speed overload Stacking Robots self-locking end effector provided in an embodiment of the present invention is shown
It is intended to (top view)；
Fig. 2 is for a kind of structure of high-speed overload Stacking Robots self-locking end effector provided in an embodiment of the present invention
Schematic diagram (bottom view)；
Fig. 3 is connection schematic diagram between locking roller provided in an embodiment of the present invention, voussoir top plate and bidirectional hydraulic bar；
Fig. 4 is motion flow diagram provided in an embodiment of the present invention.
Description of symbols:
1, quick positioning mechanism, 1-1, screw sleeve, 1-2, dual-axle motor, 1-3, support frame, 1-4, shaft coupling, 1-5,
One trapezoidal screw, 1-6, the second trapezoidal screw, 2, heavily loaded clamp mechanism, 2-1, guide rail, 2-2, transverse slat, 2-3, the first fixed frame,
2-4, locking roller, 2-5, clamping roller, 2-6, voussoir, 2-7, voussoir top plate, 2-8, limit spring, 2-9, bidirectional hydraulic bar,
2-10, pressure sensor, 2-11, bearing, 2-12, ladder chute, 2-13, connecting plate, 2-14, the second fixed frame, 3, support plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 4, a kind of high-speed overload Stacking Robots self-locking end effector, including quick localization machine
Structure 1, heavily loaded clamp mechanism 2 and support plate 3；The heavy duty clamp mechanism 2 includes two and is symmetricly set on 3 liang of the support plate
The transverse slat 2-2 for holding and being slidably connected with it, the bottom symmetrical at one of them both ends the transverse slat 2-2 are provided with the first fixed frame
2-3, the bottom symmetrical at another both ends transverse slat 2-2 are provided with the second fixed frame 2-14, the bottom of the first fixed frame 2-3
Portion is rotatably connected to clamping roller 2-5, and the basal sliding of the second fixed frame 2-14 is connected with voussoir top plate 2-7 and passes through company
Fishplate bar 2-13 is fixed with bidirectional hydraulic bar 2-9, and the bidirectional hydraulic bar 2-9 is arranged below the support plate 3 and two are stretched
Outlet, which is respectively and fixedly provided with, passes through bearing 2-11 with the both ends of the voussoir 2-6, the voussoir top plate 2-7 of voussoir top plate 2-7 cooperation
Rotation connection is provided with pressure sensor 2-10, the clamping roller on the locking roller 2-4 there are two roller 2-4 is locked
It is fixedly connected between 2-5 and the first fixed frame 2-3, between the locking roller 2-4 and the second fixed frame 2-14
There is limit spring 2-8, the limit spring 2-8 is separate for ensuring that the locking roller 2-4, the clamping roller 2-5 are gone to
Plate side guarantees the aid angle of the two；The quick positioning mechanism 1 includes the twin shaft for being fixed on 3 middle part of support plate
Two output shafts of motor 1-2, the dual-axle motor 1-2 pass through shaft coupling 1-4 respectively and are connected with the first trapezoidal screw 1-5 and
Two trapezoidal screw 1-6, the first trapezoidal screw 1-5 and the second trapezoidal screw 1-6 pass through sleeve arrangement and the cross
Plate 2-2 connection.
The sleeve arrangement include two respectively with the first trapezoidal screw 1-5 and the second trapezoidal screw 1-6 spiral shell
It is fixedly connected with support frame 1-3 on the screw sleeve 1-1, the screw sleeve 1-1 of line cooperation, support frame as described above 1-3 is fixed on
On the transverse slat 2-2.
The both ends of the support plate 3 are symmetrically arranged with guide rail 2-1, and the bottom the transverse slat 2-2 is fixed with and the guide rail 2-1
The sliding block being slidably connected.
The voussoir top plate 2-7 is slidably connected by ladder chute 2-12 and the fixed frame 2-3, ensure that the voussoir
Top plate 2-7 will not be subjected to displacement in the vertical direction.
The hand of spiral of the first trapezoidal screw 1-5 and the second trapezoidal screw 1-6 are on the contrary, and its helix angle
Less than equivalent friction angle.
The inclination angle of the voussoir 2-6 and voussoir top plate 2-7 is less than equivalent friction angle between the two.
The locking roller 2-4 and the clamping roller 2-5 coplanar horizontal.
The pressure sensor 2-10 is mounted at the rotating shaft that the locking roller 2-4 is connect with the bearing 2-11.
In use, after dual-axle motor 1-2 is powered, drive the hand of spiral opposite first is trapezoidal when needing to clamp plank
Screw rod 1-5 and the second trapezoidal screw 1-6 rotation drives the heavily loaded clamp mechanism 2 equipped with transverse slat 2-2 mutually to lean on by sleeve arrangement
Closely, when the locking roller 2-4 on heavily loaded clamp mechanism 2 and clamping roller 2-5 touch plank, pressure sensor 2-10 generates pressure
Force signal stalls dual-axle motor 1-2, while the holding torque that is powered, due to the first trapezoidal screw 1-5, the second trapezoidal screw 1-6
The hand of spiral is on the contrary, the helix angle plus the two is less than equivalent friction angle, so it can be produced from two screw sleeve 1-1
Lock, thus to transverse slat 2-2 realize fix, then control two-way hydraulic cylinder 2-9 piston rod do extending action, by voussoir 2-6 to
Two sides are stretched out, and are pushed voussoir top plate 2-7 to drive locking roller 2-4 to press to plate, are finally realized the clamping to plate.
The invention has the advantages that pressure sensor in the present apparatus for realizing to clamping whether judgement in place, and can be directed to
Chucking power size is adjusted in the requirement of different materials, prevents from pressing from both sides bad plate, or can not press from both sides plate, voussoir and voussoir top plate
Cooperation, change the support force direction of bidirectional hydraulic bar, it is ensured that the present apparatus can provide the folder of abundance when grabbing heavy plate
Holding force cooperates the pressure maintaining oil circuit of two-way hydraulic cylinder to lock, voussoir generates again with voussoir top plate when grip force reaches given threshold
It is self-locking；Limit spring limits locking roller, clamping roller slewing area, prevents the two from turning to outside, loses claming angle.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. a kind of high-speed overload Stacking Robots self-locking end effector, it is characterised in that: including quick positioning mechanism (1),
Heavily loaded clamp mechanism (2) and support plate (3)；The heavy duty clamp mechanism (2) includes two and is symmetricly set on the support plate
(3) bottom symmetrical of both ends and the transverse slat being slidably connected with it (2-2), one of them transverse slat (2-2) both ends is provided with
The bottom symmetrical of first fixed frame (2-3), another transverse slat (2-2) both ends is provided with the second fixed frame (2-14), described
The lower rotation of first fixed frame (2-3) is connected with clamping roller (2-5), and the basal sliding of second fixed frame (2-14) connects
It is connected to voussoir top plate (2-7) and is fixed with bidirectional hydraulic bar (2-9) by connecting plate (2-13), the bidirectional hydraulic bar (2-9)
It is arranged below the support plate (3) and two extension ends is respectively and fixedly provided with the voussoir (2- cooperated with the voussoir top plate (2-7)
6), by bearing (2-11) rotation connection, there are two locking roller (2-4), the lockings at the both ends of the voussoir top plate (2-7)
It is provided on roller (2-4) pressure sensor (2-10), between the clamping roller (2-5) and first fixed frame (2-3),
Limit spring (2-8) is fixedly connected between the locking roller (2-4) and second fixed frame (2-14)；It is described quick
Positioning mechanism (1) includes being fixed on dual-axle motor (1-2) in the middle part of the support plate (3), and two of the dual-axle motor (1-2)
Output shaft passes through shaft coupling (1-4) respectively and is connected with the first trapezoidal screw (1-5) and the second trapezoidal screw (1-6), and described first
Trapezoidal screw (1-5) and second trapezoidal screw (1-6) are flexibly connected by sleeve arrangement with the transverse slat (2-2).
2. a kind of high-speed overload Stacking Robots self-locking end effector as described in claim 1, it is characterised in that: described
Sleeve arrangement includes two and is threadedly engaged respectively with first trapezoidal screw (1-5) and second trapezoidal screw (1-6)
Screw sleeve (1-1) is fixedly connected with support frame (1-3) on the screw sleeve (1-1), and support frame as described above (1-3) is fixed on
On the transverse slat (2-2).
3. a kind of high-speed overload Stacking Robots self-locking end effector as described in claim 1, it is characterised in that: described
The both ends of support plate (3) are symmetrically arranged with guide rail (2-1), and transverse slat (2-2) bottom is fixed with to be slided with the guide rail (2-1)
The sliding block of connection.
4. a kind of high-speed overload Stacking Robots self-locking end effector as described in claim 1, it is characterised in that: described
Voussoir top plate (2-7) is slidably connected by ladder chute (2-12) with second fixed frame (2-14).
5. a kind of high-speed overload Stacking Robots self-locking end effector as described in claim 1, it is characterised in that: described
The hand of spiral of first trapezoidal screw (1-5) and second trapezoidal screw (1-6) on the contrary, and its helix angle be less than equivalent
Angle of friction.
6. a kind of high-speed overload Stacking Robots self-locking end effector as described in claim 1, it is characterised in that: described
The inclination angle of voussoir (2-6) and the voussoir top plate (2-7) is less than equivalent friction angle between the two.
7. a kind of high-speed overload Stacking Robots self-locking end effector as described in claim 1, it is characterised in that: described
Lock roller (2-4) and clamping roller (2-5) coplanar horizontal.
8. a kind of high-speed overload Stacking Robots self-locking end effector as described in claim 1, it is characterised in that: described
Pressure sensor (2-10) is mounted at the rotating shaft that locking roller (2-4) connect with the bearing (2-11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910283696.6A CN110154067B (en) | 2019-04-10 | 2019-04-10 | Self-locking type end effector of high-speed heavy-load stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910283696.6A CN110154067B (en) | 2019-04-10 | 2019-04-10 | Self-locking type end effector of high-speed heavy-load stacking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110154067A true CN110154067A (en) | 2019-08-23 |
| CN110154067B CN110154067B (en) | 2020-08-11 |
Family
ID=67639361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910283696.6A Active CN110154067B (en) | 2019-04-10 | 2019-04-10 | Self-locking type end effector of high-speed heavy-load stacking robot |
Country Status (1)
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| CN (1) | CN110154067B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002338A (en) * | 2019-12-24 | 2020-04-14 | 芜湖鼎瀚再制造技术有限公司 | Over-and-under type engine cylinder lid anchor clamps |
| CN111216106A (en) * | 2020-02-15 | 2020-06-02 | 合肥市春华起重机械有限公司 | Lining-changing manipulator bridge structure and working method |
| CN111604930A (en) * | 2020-05-27 | 2020-09-01 | 中国矿业大学 | Clamping type end effector of stacking robot and clamping method |
| CN111674943A (en) * | 2020-05-19 | 2020-09-18 | 杭州德创能源设备有限公司 | Stacking machine |
| CN111994835A (en) * | 2020-08-21 | 2020-11-27 | 山东工业职业学院 | Three-dimensional storage rail mounted stacker crane for commodity circulation |
| CN114029986A (en) * | 2021-11-22 | 2022-02-11 | 中国矿业大学 | Multi-finger cooperative type end carrying actuator |
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| KR20060113146A (en) * | 2005-04-29 | 2006-11-02 | 현대자동차주식회사 | Gripper for transferring tire assembly |
| US20090097956A1 (en) * | 2007-10-15 | 2009-04-16 | Delaware Capital Formation, Inc. | Articulating Package Palletizing System |
| CN201253849Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002338A (en) * | 2019-12-24 | 2020-04-14 | 芜湖鼎瀚再制造技术有限公司 | Over-and-under type engine cylinder lid anchor clamps |
| CN111216106A (en) * | 2020-02-15 | 2020-06-02 | 合肥市春华起重机械有限公司 | Lining-changing manipulator bridge structure and working method |
| CN111674943A (en) * | 2020-05-19 | 2020-09-18 | 杭州德创能源设备有限公司 | Stacking machine |
| CN111674943B (en) * | 2020-05-19 | 2021-10-08 | 杭州德创能源设备有限公司 | Stacking machine |
| CN111604930A (en) * | 2020-05-27 | 2020-09-01 | 中国矿业大学 | Clamping type end effector of stacking robot and clamping method |
| CN111994835A (en) * | 2020-08-21 | 2020-11-27 | 山东工业职业学院 | Three-dimensional storage rail mounted stacker crane for commodity circulation |
| CN114029986A (en) * | 2021-11-22 | 2022-02-11 | 中国矿业大学 | Multi-finger cooperative type end carrying actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110154067B (en) | 2020-08-11 |
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